Abstract
Mobile robots have various sensors that are considered as their eyes and a two-dimensional laser scanner (SOKUIKI sensor) is one of them. This sensor is commonly used for constructing environment maps or detecting obstacles. It is very important to estimate accurately the sensor's position and direction when scan data is obtained in order to use correctly such a sensor for these purposes. On the other hand, scanning sensors have an essencial problem: time lag. That is, the time when the laser is transmitted to each direction is different. Thus the map has many errors if the measurement time lag problem is not resolved. This paper presents a method for laser scan data synchronization using time registration and, as a practical application, we show its effectiveness for accurate map construction.
| Original language | English |
|---|---|
| Pages (from-to) | 69-83 |
| Number of pages | 15 |
| Journal | Advanced Robotics |
| Volume | 24 |
| Issue number | 1-2 |
| DOIs | |
| Publication status | Published - 2010 Jan 1 |
| Externally published | Yes |
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Keywords
- Range data map
- SDSMR
- SOKUIKI sensor
- Synchronous
- Timing registration
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Hardware and Architecture
- Software
Cite this
A method for accurate map construction using time registration from a moving SOKUIKI sensor. / Kawata, Hirohiko; Ueda, Tatsuro; Tomizawa, Tetsuo; Ohya, Akihisa; Yuta, Shinichi.
In: Advanced Robotics, Vol. 24, No. 1-2, 01.01.2010, p. 69-83.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A method for accurate map construction using time registration from a moving SOKUIKI sensor
AU - Kawata, Hirohiko
AU - Ueda, Tatsuro
AU - Tomizawa, Tetsuo
AU - Ohya, Akihisa
AU - Yuta, Shinichi
PY - 2010/1/1
Y1 - 2010/1/1
N2 - Mobile robots have various sensors that are considered as their eyes and a two-dimensional laser scanner (SOKUIKI sensor) is one of them. This sensor is commonly used for constructing environment maps or detecting obstacles. It is very important to estimate accurately the sensor's position and direction when scan data is obtained in order to use correctly such a sensor for these purposes. On the other hand, scanning sensors have an essencial problem: time lag. That is, the time when the laser is transmitted to each direction is different. Thus the map has many errors if the measurement time lag problem is not resolved. This paper presents a method for laser scan data synchronization using time registration and, as a practical application, we show its effectiveness for accurate map construction.
AB - Mobile robots have various sensors that are considered as their eyes and a two-dimensional laser scanner (SOKUIKI sensor) is one of them. This sensor is commonly used for constructing environment maps or detecting obstacles. It is very important to estimate accurately the sensor's position and direction when scan data is obtained in order to use correctly such a sensor for these purposes. On the other hand, scanning sensors have an essencial problem: time lag. That is, the time when the laser is transmitted to each direction is different. Thus the map has many errors if the measurement time lag problem is not resolved. This paper presents a method for laser scan data synchronization using time registration and, as a practical application, we show its effectiveness for accurate map construction.
KW - Range data map
KW - SDSMR
KW - SOKUIKI sensor
KW - Synchronous
KW - Timing registration
UR - http://www.scopus.com/inward/record.url?scp=76649129341&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76649129341&partnerID=8YFLogxK
U2 - 10.1163/016918609X12585536415780
DO - 10.1163/016918609X12585536415780
M3 - Article
VL - 24
SP - 69
EP - 83
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 1-2
ER -